INCREMENTAL STATE-SPACE PREDICTIVE CONTROLLER WITH KALMAN ESTIMATION

BELDA, K.; BÖHM, J.

Abstract

The paper deals with incremental modification of generalized state-space Predictive algorithm with state-space Kalman filter estimation. The main points of derivation of this combination in square-root forms are outlined. The incremental modification can solve the question of steady-state errors. As models for simulative tests, simple linear SISO system and linearized MIMO system (industrial parallel robots) were considered.

Coresponding author e-mail: belda[at]utia[dot]cas[dot]cz

Session: Model Predictive Control